Method and Apparatus for Determining Drivable Region Information

ABSTRACT

Embodiments of this application provide a method and an apparatus for determining drivable region information. The method includes obtaining first information, where the first information includes information about an initial drivable region determined based on at least one image, and the at least one image is from at least one camera module. The method also includes obtaining second information, where the second information includes radar detection information. The method further includes determining first drivable region information based on the first information and the second information.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of International Application No.PCT/CN2020/096755, filed on Jun. 18, 2020, which claims priority toChinese Patent Application No. 201910525320.1, filed on Jun. 18, 2019.The disclosures of the aforementioned applications are herebyincorporated by reference in their entireties.

TECHNICAL FIELD

This application relates to the field of automatic driving technologies,and in particular, to a method and an apparatus for determining drivableregion information.

BACKGROUND

A drivable region of a vehicle is a region, in a driving environment inwhich the vehicle is located, in which the vehicle can travel. Thedrivable region of the vehicle needs to avoid another vehicle, apedestrian, a non-drivable region of a vehicle and another obstacleregion on a road, or the like in the driving environment in which thevehicle is located.

In the prior art, an camera apparatus may be used to shoot an image of ato-be-detected region in a driving environment in which a vehicle islocated, and then the image is identified by using a semanticsegmentation algorithm or an instance segmentation algorithm that isbased on a convolutional neural network (CNN), to determine a drivableregion in the to-be-detected region. However, because the cameraapparatus is greatly affected by a light condition, in an environment inwhich there is a shadow or a block, a misjudgment easily occurs.Consequently, obtained drivable region information is inaccurate. Inaddition, a laser radar may alternatively be used to transmit a laser tothe to-be-detected region, or a vehicle-mounted radar may alternativelybe used to transmit an electromagnetic wave to the to-be-detectedregion, and an obstacle object in the to-be-detected region isdetermined by using an echo. Therefore, the drivable region of theto-be-detected region is determined. However, the laser radar is easilyaffected by a climate, and in extreme climates such as rain and snow,measurement precision of the laser radar is reduced. Consequently,obtained drivable region information is inaccurate. The vehicle-mountedradar is easily affected by a noise signal in the environment, and whenamplitude of the noise signal exceeds a detection threshold, thevehicle-mounted radar may misjudge an obstacle object and a false alarmoccurs; or when there are a plurality of strong interference objects inthe environment, the vehicle-mounted radar may miss detection of anobstacle object. Consequently, obtained drivable region information isinaccurate.

SUMMARY

Embodiments of this application provide a method and an apparatus fordetermining drivable region information, to resolve a problem thatobtained drivable region information is inaccurate.

According to a first aspect, an embodiment of this application providesa method for determining drivable region information. The methodincludes: obtaining first information, where the first informationincludes information about an initial drivable region determined basedon at least one image, and the at least one image is from at least onecamera module; obtaining second information, where the secondinformation includes radar detection information; and determining firstdrivable region information based on the first information and thesecond information.

In this implementation, first, the first information is obtained, wherethe first information includes the information that is about the initialdrivable region and that is determined based on the image; then, thesecond information including the radar detection information isobtained; and finally, the first drivable region information isdetermined based on the first information and the second information. Itcan be learned that the first drivable region information, obtainedaccording to the method for determining drivable region informationprovided in this implementation, is obtained by fusing image informationand the radar detection information, and has higher accuracy; and whendetection performed by one of an camera apparatus and a radar apparatusis inaccurate, for example, when the camera apparatus is in anenvironment in which there is a shadow or a block, or when a laser radaris affected by a climate or when a vehicle-mounted radar is affected bya noise signal, the accuracy of the first drivable region informationcan be improved by using detection information of the other one of thecamera apparatus and the radar apparatus, and safety of vehicletraveling is ensured.

With reference to the first aspect, in a first possible implementationof the first aspect, the radar detection information includes detectioninformation of the initial drivable region.

In this implementation, the detection information that is of the initialdrivable region and that is included in the radar detection informationis determined as the second information. Subsequently, a radar onlyneeds to send the detection information of the initial drivable regionto an apparatus for obtaining drivable region information, so that adata transmission amount is relatively small; and when the firstdrivable region information is subsequently determined based on thefirst information and the second information, an amount of data thatneeds to be fused is relatively small, and a calculation amount isrelatively small. Therefore, efficiency of determining the drivableregion information can be improved.

With reference to the first aspect, in a second possible implementationof the first aspect, the method further includes: determining, based onthe first information and the second information, whether a region ofinterest exists.

In this implementation, the accuracy of the first drivable regioninformation may be further determined by determining whether a region ofinterest exists; and therefore, the accuracy of the determined firstdrivable region information is ensured.

With reference to the first aspect, in a third possible implementationof the first aspect, the method further includes: determining that aregion of interest exists; obtaining second drivable region informationand region information of the region of interest; obtaining a detectionresult of the region of interest based on the region information of theregion of interest; and determining the first drivable regioninformation based on the second drivable region information and thedetection result of the region of interest.

In this implementation, when it is determined that there is the regionof interest, information obtained after the first information and thesecond information are fused is determined as the second drivable regioninformation; the region of interest is detected based on the regioninformation of the region of interest, to obtain the detection result ofthe region of interest; and finally, the first drivable regioninformation is determined based on the second drivable regioninformation and the detection result of the region of interest, so thatthe accuracy of the determined first drivable region information ishigher, and safety is higher when a vehicle subsequently travels basedon the first drivable region information.

With reference to the first aspect, in a fourth possible implementationof the first aspect, the information about an initial drivable regionincludes information about at least one pixel corresponding to theinitial drivable region; or the information about an initial drivableregion is indicated by boundary information of the initial drivableregion.

In this implementation, the information about an initial drivable regionmay be indicated by using the boundary information of the initialdrivable region, so that when the information about an initial drivableregion is sent, a data transmission amount can be reduced, and theefficiency of determining the drivable region information can beimproved.

With reference to the first aspect, in a fifth possible implementationof the first aspect, the radar detection information includes locationcoordinates information; or the radar detection information includeslocation coordinates information and covariance information of thelocation coordinates.

In this implementation, the radar detection information may include theinformation about the location coordinates and the covarianceinformation of the location coordinates, so that after the radar sendsthe radar detection information to the apparatus for obtaining drivableregion information, the apparatus for obtaining drivable regioninformation can more accurately determine a target point detected by theradar; and therefore, the accuracy of the first drivable regioninformation that is subsequently determined is improved.

According to a second aspect, an embodiment of this application providesa method for determining drivable region information. The methodincludes: receiving first information, where the first informationincludes information about an initial drivable region determined basedon at least one image, and the at least one image is from at least onecamera module; generating second information, where the secondinformation includes radar detection information that is of the initialdrivable region generated based on the first information; and sendingthe second information.

In this implementation, first, the first information is received; thenthe second information including the radar detection information of theinitial drivable region is generated based on the first information; andfinally, the second information is sent to an apparatus for obtainingdrivable region information. It can be learned that, according to themethod provided in this implementation, a radar only needs to send theradar detection information of the initial drivable region to theapparatus for obtaining drivable region information, so that a datatransmission amount is relatively small; and when first drivable regioninformation is subsequently determined based on the first informationand the second information, an amount of data that needs to be fused isrelatively small, and a calculation amount is relatively small.Therefore, efficiency of determining the drivable region information canbe improved.

According to a third aspect, an embodiment of this application providesan apparatus for determining drivable region information. The apparatusincludes: an obtaining module, configured to obtain first information,where the first information includes information about an initialdrivable region determined based on at least one image, and the at leastone image is from at least one camera module, where the obtaining moduleis further configured to obtain second information, where the secondinformation includes radar detection information; and a determiningmodule, configured to determine first drivable region information basedon the first information and the second information.

The apparatus provided in this implementation first obtains the firstinformation, where the first information includes the information thatis about the initial drivable region and that is determined based on theimage; then obtains the second information including the radar detectioninformation; and finally, determines the first drivable regioninformation based on the first information and the second information.It can be learned that the first drivable region information, obtainedby the apparatus for determining drivable region information provided inthis implementation, is obtained by fusing image information and theradar detection information, and has higher accuracy; and when detectionperformed by one of an camera apparatus and a radar apparatus isinaccurate, for example, when the camera apparatus is in an environmentin which there is a shadow or a block, or when a laser radar is affectedby a climate or when a vehicle-mounted radar is affected by a noisesignal, the accuracy of the first drivable region information can beimproved by using detection information of the other one of the cameraapparatus and the radar apparatus, and safety of vehicle traveling isensured.

With reference to the third aspect, in a first possible implementationof the third aspect, the radar detection information includes detectioninformation of the initial drivable region.

The apparatus provided in this implementation determines the detectioninformation that is of the initial drivable region and that is includedin the radar detection information as the second information.Subsequently, a radar only needs to send the detection information ofthe initial drivable region to an apparatus for obtaining drivableregion information, so that a data transmission amount is relativelysmall; and when the first drivable region information is subsequentlydetermined based on the first information and the second information, anamount of data that needs to be fused is relatively small, and acalculation amount is relatively small. Therefore, efficiency ofdetermining the drivable region information can be improved.

With reference to the third aspect, in a second possible implementationof the third aspect, the determining module is further configured to:determine, based on the first information and the second information,whether a region of interest exists.

The apparatus provided in this implementation may further determine theaccuracy of the first drivable region information by determining whethera region of interest exists; and therefore, the accuracy of thedetermined first drivable region information is ensured.

With reference to the third aspect, in a third possible implementationof the third aspect, the determining module is further configured todetermine that a region of interest exists; the obtaining module isfurther configured to obtain second drivable region information andregion information of the region of interest; the obtaining module isfurther configured to obtain a detection result of the region ofinterest based on the region information of the region of interest; andthe determining module is further configured to determine the firstdrivable region information based on the second drivable regioninformation and the detection result of the region of interest.

When determining that there is the region of interest, the apparatusprovided in this implementation determines, as the second drivableregion information, information obtained after the first information andthe second information are fused; detects the region of interest basedon the region information of the region of interest, to obtain thedetection result of the region of interest; and finally, determines thefirst drivable region information based on the second drivable regioninformation and the detection result of the region of interest, so thatthe accuracy of the determined first drivable region information ishigher, and safety is higher when a vehicle subsequently travels basedon the first drivable region information.

With reference to the third aspect, in a fourth possible implementationof the third aspect, the information about an initial drivable regionincludes information about at least one pixel corresponding to theinitial drivable region; or the information about an initial drivableregion is indicated by boundary information of the initial drivableregion.

According to the apparatus provided in this implementation, theinformation about an initial drivable region may be indicated by usingthe boundary information of the initial drivable region, so that whenthe information about an initial drivable region is sent, a datatransmission amount can be reduced, and the efficiency of determiningthe drivable region information can be improved.

With reference to the third aspect, in a fifth possible implementationof the third aspect, the radar detection information includes locationcoordinates information; or the radar detection information includeslocation coordinates information and covariance information of thelocation coordinates.

According to the apparatus provided in this implementation, the radardetection information may include the information about the locationcoordinates and the covariance information of the location coordinates,so that after the radar sends the radar detection information to theapparatus for obtaining drivable region information, the apparatus forobtaining drivable region information can more accurately determine atarget point detected by the radar; and therefore, the accuracy of thefirst drivable region information that is subsequently determined isimproved.

According to a fourth aspect, an embodiment of this application providesan apparatus for determining drivable region information. The apparatusincludes: a receiving module, configured to receive first information,where the first information includes information about an initialdrivable region determined based on at least one image, and the at leastone image is from at least one camera module; a generation module,configured to generate second information, where the second informationincludes radar detection information that is of the initial drivableregion generated based on the first information; and a sending module,configured to send the second information.

The apparatus provided in this implementation first receives the firstinformation; then generates, based on the first information, the secondinformation including the radar detection information of the initialdrivable region; and finally, sends the second information to anapparatus for obtaining drivable region information. It can be learnedthat, according to the apparatus provided in this implementation, aradar only needs to send the radar detection information of the initialdrivable region to the apparatus for obtaining drivable regioninformation, so that a data transmission amount is relatively small; andwhen first drivable region information is subsequently determined basedon the first information and the second information, an amount of datathat needs to be fused is relatively small, and a calculation amount isrelatively small. Therefore, efficiency of determining the drivableregion information can be improved.

According to a fifth aspect, an embodiment of this application providesan apparatus. The apparatus includes a processor, the processor isconfigured to couple to a memory, and the processor is configured toread instructions in the memory, so that the apparatus performs,according to the instructions, the method according to any one of thefirst aspect, the second aspect, the possible implementations of thefirst aspect, and the possible implementations of the second aspect.

According to a sixth aspect, an embodiment of this application providesa computer storage medium. The computer storage medium storesinstructions; and when the instructions is run on a computer, thecomputer is enabled to perform some or all steps of the method accordingto any one of the first aspect, the second aspect, the possibleimplementations of the first aspect, and the possible implementations ofthe second aspect.

According to a seventh aspect, an embodiment of this applicationprovides a computer program product. When the computer program productruns on a computer, the computer is enabled to perform some or all stepsof the method according to any one of the first aspect, the secondaspect, the possible implementations of the first aspect, and thepossible implementations of the second aspect.

To resolve the problem that obtained drivable region information isinaccurate, the embodiments of this application provide the method andthe apparatus for determining drivable region information. In themethod, first, the first information is obtained, where the firstinformation includes the information that is about the initial drivableregion and that is determined based on the image; then, the secondinformation including the radar detection information is obtained; andfinally, the first drivable region information is determined based onthe first information and the second information. It can be learned thatthe first drivable region information, obtained according to the methodfor determining drivable region information provided in thisapplication, is obtained by fusing image information and the radardetection information, and has higher accuracy; and when detectionperformed by one of an camera apparatus and a radar apparatus isinaccurate, for example, when the camera apparatus is in an environmentin which there is a shadow or a block, or when a laser radar is affectedby a climate or when a vehicle-mounted radar is affected by a noisesignal, the accuracy of the first drivable region information can beimproved by using detection information of the other one of the cameraapparatus and the radar apparatus, and safety of vehicle traveling isensured.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a structural block diagram of an implementation of a systemfor determining drivable region information according to an embodimentof this application;

FIG. 2 is a structural block diagram of another implementation of asystem for determining drivable region information according to anembodiment of this application;

FIG. 3 is a schematic flowchart of an implementation of a method fordetermining drivable region information according to an embodiment ofthis application;

FIG. 4 is a schematic flowchart of an implementation of a method forobtaining first information according to an embodiment of thisapplication;

FIG. 5 is a schematic flowchart of another implementation of a methodfor obtaining first information according to an embodiment of thisapplication;

FIG. 6 is a schematic flowchart of another implementation of a methodfor obtaining first information according to an embodiment of thisapplication;

FIG. 7 is a schematic flowchart of an implementation of a method forobtaining second information according to an embodiment of thisapplication;

FIG. 8A and FIG. 8B are a schematic flowchart of another implementationof a method for obtaining second information according to an embodimentof this application;

FIG. 9A and FIG. 9B are a schematic flowchart of another implementationof a method for obtaining second information according to an embodimentof this application;

FIG. 10 is a schematic flowchart of an implementation of a method fordetermining first drivable region information based on first informationand second information according to an embodiment of this application;

FIG. 11A and FIG. 11B are a schematic flowchart of anotherimplementation of a method for determining first drivable regioninformation based on first information and second information accordingto an embodiment of this application;

FIG. 12 is a structural block diagram of an implementation of anapparatus for determining drivable region information according to anembodiment of this application; and

FIG. 13 is a structural block diagram of another implementation of anapparatus for determining drivable region information according to anembodiment of this application.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

The following describes the technical solutions of this application withreference to the accompanying drawings.

A system for determining drivable region information provided in thisapplication is first described, and a method for determining drivableregion information provided in this application may be implemented inthe system.

FIG. 1 is a structural block diagram of an implementation of a systemfor determining drivable region information according to thisapplication. FIG. 2 is a structural block diagram of anotherimplementation of a system for determining drivable region informationaccording to this application. With reference to FIG. 1 or FIG. 2, itcan be learned that the system 100 may include an camera module 10, aradar 20, and a fusion module 30. There is at least one camera module10, and the camera module 10 may be configured to: shoot an image of adriving environment in which a vehicle is located, and determineinformation about an initial drivable region based on the shot image.The radar 20 may be a laser radar or a vehicle-mounted radar, and may beconfigured to: transmit a laser or an electromagnetic wave in thedriving environment in which the vehicle is located, and generate radardetection information based on an echo of the laser or theelectromagnetic wave. The fusion module 30 may be configured to fuse theinformation that is about the initial drivable region and that isdetermined by the camera module 10 and the radar detection informationgenerated by the radar 20, to obtain drivable region information of thevehicle, so that safety is higher when the vehicle travels based on thedrivable region information. The fusion module 30 may be disposedseparately (as shown in FIG. 1), or may be disposed in the camera module10 (as shown in FIG. 2).

Persons skilled in the art may understand that a structure of the systemfor determining drivable region information shown in FIG. 1 or FIG. 2does not constitute a limitation on the system for determining drivableregion information in this application. The system for determiningdrivable region information in this application may include more orfewer components than those shown in the figure, or some components maybe combined, or the system may have different component arrangements.The components shown in the figure may be implemented by hardware,software, or a combination of software and hardware.

The following describes embodiments of the method for determiningdrivable region information provided in this application.

FIG. 3 is a schematic flowchart of an implementation of a method fordetermining drivable region information according to this application.The method may be performed by a fusion module that is separatelydisposed, or may be performed by a camera module that is internallyequipped with a fusion module. With reference to FIG. 3, it can belearned that the method includes the following steps.

Step 101: Obtain first information.

The first information includes information about an initial drivableregion determined based on at least one image, and the at least oneimage is from at least one camera module. Further, for specific contentof the first information, refer to content of a subsequent embodiment.

The first information may be obtained in a plurality of implementations.When the method shown in FIG. 3 is performed by the camera module thatis internally equipped with the fusion module, as shown in FIG. 4, theobtaining first information may be implemented according to thefollowing steps.

Step 201: The camera module shoots an image of a to-be-detected region.

The to-be-detected region is a detection region that is in a drivingenvironment in which a vehicle is located and in which drivable regioninformation is to be determined. In other words, in the drivingenvironment in which the vehicle is located, a detection region in whichdrivable region information needs to be determined may be determined asthe to-be-detected region. For example, when drivable region informationin a detection region right before the vehicle needs to be determined,the detection region right before the vehicle may be determined as theto-be-detected region; or when drivable region information in adetection region behind the vehicle needs to be determined, thedetection region behind the vehicle may be determined as theto-be-detected region. By analogy, when drivable region information inanother detection region in the driving environment in which the vehicleis located needs to be determined, the detection region may bedetermined as the to-be-detected region. Examples are not listed one byone herein.

There may be one or more images of the to-be-detected region. If thereare a plurality of images of the to-be-detected region, the plurality ofimages may be shot by one camera module, or may be shot by a pluralityof camera modules.

Step 202: The camera module classifies and identifies the image, toobtain image information of the to-be-detected region.

Optionally, the camera module may classify and identify the image byusing a semantic segmentation algorithm or an instance segmentationalgorithm that is based on a CNN, to obtain the image information of theto-be-detected region. The image information of the to-be-detectedregion includes information about m pixels corresponding to theto-be-detected region, and the information about the m pixels may berepresented as [(a₁, b₁, c₁), (a₂, b₂, c₂), . . . , (a_(i), b_(i),c_(i)), . . . , (a_(m), b_(m), c_(m))] in a pixel coordinate system,where a_(i) and b_(i) indicate location coordinates of an i^(th) pixelcorresponding to the to-be-detected region, c_(i) indicates a categoryof the i^(th) pixel, and m is an integer greater than or equal to 1.

It should be noted that the image information of the to-be-detectedregion may alternatively be converted to be represented in a vehiclecoordinate system or a world coordinate system.

Step 203: The camera module determines the first information based onthe image information, where the first information includes theinformation about an initial drivable region.

After obtaining the image information of the to-be-detected region, thecamera module determines, based on a category corresponding to eachpixel in the image information, information about all pixels whosecategory is “drivable” as the information about an initial drivableregion, and correspondingly determines a region including all of thepixels whose category is “drivable” as the initial drivable region.

The information about an initial drivable region may be represented in aplurality of manners. Examples are shown below.

Manner 1: The information about an initial drivable region includesinformation about n pixels corresponding to the initial drivable region,and the information about the n pixels may be represented as [(d₁, e₁),(d₂, e₂), . . . , (d_(i), e_(i)), . . . , (d_(n), e_(n))] in the pixelcoordinate system, where d_(i) and e_(i) indicate location coordinatesof an i^(th) pixel corresponding to the initial drivable region, n is aninteger greater than or equal to 1, and n is less than or equal to m.

Manner 2: The information about an initial drivable region may berepresented by using boundary information of the initial drivableregion. The boundary information includes information about f pixels,and the information about the f pixels may be represented as [(u₁, h₁),(u₂, h₂), (u₃, h₃), . . . , (u_(i), h_(i)), . . . , (u_(f), h_(f))] inthe pixel coordinate system, where u_(i), h_(i) indicates locationcoordinates of an i^(th) pixel in the boundary information, f is aninteger greater than or equal to 1, and f is less than or equal to n.

Manner 3: The information about an initial drivable region may berepresented by using boundary information of the initial drivableregion. The boundary information includes information about r pixels,and the information about the r pixels may be represented as [step, (g₁,k₁), k₂, k₃, . . . , k_(i), . . . , k_(r)] or [step, (g₁, k₁), k₂, k₃, .. . , k_(i), . . . , k_(r), method] in the pixel coordinate system,where g₁, k₁ indicates location coordinates of the first pixel in theboundary information, k_(i) indicates a vertical coordinate of an i^(th)pixel in the boundary information, a horizontal coordinate of the i^(th)pixel is obtained based on the step, the step indicates an interval stepbetween the horizontal coordinate of the i^(th) pixel and a horizontalcoordinate of an (i+1)^(th) pixel, an interval step between thehorizontal coordinate of the i^(th) pixel and a horizontal coordinate ofan (i−1)^(th) pixel is the same as the interval step between thehorizontal coordinate of the i^(th) pixel and the horizontal coordinateof the (i+1)^(th) pixel, the method indicates a connection relationshipbetween all interval steps, r is an integer greater than or equal to 1,and r is less than n.

Manner 4: The information about an initial drivable region may berepresented by using boundary information of the initial drivableregion. The boundary information includes information about s pixels,and the information about the s pixels may be represented as [(p₁, q₁),(p₂, q₂), (p₃, q₃), . . . , (p_(i), q_(i)), . . . , (p_(s), q_(s)),method] in the pixel coordinate system, where p_(i), q_(i) indicateslocation coordinates of an i^(th) pixel in the boundary information,there is an interval step between a horizontal coordinate of the i^(th)pixel and a horizontal coordinate of an (i+1)^(th) pixel, an intervalstep between the horizontal coordinate of the i^(th) pixel and ahorizontal coordinate of an (i−1)^(th) pixel is different from theinterval step between the horizontal coordinate of the i^(th) pixel andthe horizontal coordinate of the (i+1)^(th) pixel, the method indicatesa connection relationship between all interval steps, s is an integergreater than or equal to 1, and s is less than n.

The method in the manner 3 or the manner 4 may be set to a plurality ofmanners. For example, the method may be set to linear interpolation,quadratic interpolation, cubic spline interpolation, or shape-preservingpiecewise cubic interpolation.

It should be noted that the information about an initial drivable regionmay alternatively be converted to be represented in the vehiclecoordinate system or the world coordinate system.

When the method shown in FIG. 4 is used to obtain the first information,because the fusion module is disposed inside the camera module, thefirst information is directly obtained through the fusion module, sothat a data transmission amount is reduced, and efficiency ofdetermining the drivable region information can be subsequentlyimproved.

When the method shown in FIG. 3 is performed by the fusion module thatis separately disposed, as shown in FIG. 5, the obtaining firstinformation may alternatively be implemented according to the followingsteps.

Step 301: The camera module shoots an image of a to-be-detected region.

Step 302: The camera module classifies and identifies the image, toobtain image information of the to-be-detected region.

For specific implementations of step 301 and step 302, refer to step 201and step 202 in the embodiment shown in FIG. 4. Details are notdescribed herein again.

Step 303: The camera module sends the image information to the fusionmodule.

Step 304: The fusion module receives the image information sent by thecamera module.

Step 305: The fusion module determines the first information based onthe image information, where the first information includes theinformation about an initial drivable region.

For a specific implementation of step 305, refer to step 203 in theembodiment shown in FIG. 4. Details are not described herein again.

When the method shown in FIG. 5 is used to obtain the first information,a data calculation amount in the camera module can be reduced, andoverheads of the camera module can be reduced, thereby saving resourcesof the camera module.

When the method shown in FIG. 3 is performed by the fusion module thatis separately disposed, as shown in FIG. 6, the obtaining firstinformation may alternatively be implemented according to the followingsteps.

Step 401: The camera module shoots an image of a to-be-detected region.

Step 402: The camera module classifies and identifies the image, toobtain image information of the to-be-detected region.

Step 403: The camera module determines the first information based onthe image information, where the first information includes theinformation about an initial drivable region.

For specific implementations of step 401 to step 403, refer to step 201to step 203 in the embodiment shown in FIG. 4. Details are not describedherein again.

Step 404: The camera module sends the first information to the fusionmodule.

When the camera module sends the first information to the fusion module,if the information that is about the initial drivable region and that isincluded in the first information is represented in any one of theforegoing manner 2 to manner 4, a data transmission amount can bereduced, and efficiency of determining drivable region information canbe subsequently improved.

Step 405: The fusion module receives the first information sent by thecamera module.

When the method shown in FIG. 6 is used to obtain the first information,a data calculation amount in the fusion module can be reduced, andoverheads of the fusion module can be reduced, thereby saving resourcesof the fusion module.

Step 102: Obtain second information.

The second information includes radar detection information. Further,for specific content of the second information, refer to content of asubsequent embodiment.

The second information may be obtained in a plurality ofimplementations. As shown in FIG. 7, the obtaining second informationmay be implemented according to the following steps.

Step 501: A radar detects the to-be-detected region, to obtain thesecond information, where the second information includes radardetection information of the to-be-detected region.

The radar may be a laser radar or a vehicle-mounted radar. Aftertransmitting a laser or an electromagnetic wave to the to-be-detectedregion, the radar may obtain the radar detection information of theto-be-detected region by using an echo of the laser or theelectromagnetic wave.

The radar detection information of the to-be-detected region includesinformation about t target points corresponding to the to-be-detectedregion, and the information about the t target points may be representedas [(X₁, Y₁), (X₂, Y₂), . . . , (X_(i), Y_(i)), . . . , (X_(t), Y_(t))]or [(X₁, Y₁, R₁), (X₂, Y₂, R₂), . . . , (X_(i), Y_(i), R_(i)), . . . ,(X_(t), Y_(t), R_(t))] in the vehicle coordinate system or the worldcoordinate system, where X_(i) and Y_(i) indicate location coordinatesinformation of an i^(th) target point corresponding to theto-be-detected region, R_(i) indicates covariance information of thelocation coordinates of the i^(th) target point, and t is an integergreater than or equal to 1.

Step 502: The radar sends the second information to an apparatus forobtaining drivable region information.

Step 503: The apparatus for obtaining drivable region informationreceives the second information sent by the radar.

When the method shown in FIG. 3 is performed by the fusion module thatis separately disposed, in an embodiment shown in FIG. 7, the apparatusfor obtaining drivable region information is the fusion module that isseparately disposed. When the method shown in FIG. 3 is performed by thecamera module that is internally equipped with the fusion module, in theembodiment shown in FIG. 7, the apparatus for obtaining drivable regioninformation is the camera module that is internally equipped with thefusion module.

When the method shown in FIG. 7 is used to obtain the secondinformation, a data calculation amount in the radar can be reduced, andoverheads of the radar can be reduced, thereby saving resources of theradar.

When the implementation shown in FIG. 7 is used to obtain the secondinformation, the radar needs to send the radar detection information ofthe to-be-detected region to the apparatus for obtaining drivable regioninformation, and consequently, a data transmission amount is relativelylarge; and when drivable region information is subsequently determinedbased on the first information and the second information, an amount ofdata that needs to be fused is relatively large, and a calculationamount is relatively large. Consequently, efficiency of determining thedrivable region information is relatively low. To resolve this problem,as shown in FIG. 8A and FIG. 8B, the obtaining second information mayalternatively be implemented according to the following steps.

Step 601: The camera module shoots an image of a to-be-detected region.

Step 602: The camera module classifies and identifies the image, toobtain image information of the to-be-detected region.

Step 603: The camera module determines the first information based onthe image information, where the first information includes theinformation about an initial drivable region.

For specific implementations of step 601 to step 603, refer to step 201to step 203 in the embodiment shown in FIG. 4. Details are not describedherein again.

Step 604: The camera module sends the first information to a radar.

When the camera module sends, to the radar, the first informationincluding the information about an initial drivable region, theinformation about an initial drivable region needs to be converted to berepresented in the vehicle coordinate system or the world coordinatesystem.

Step 605: The radar receives the first information sent by the cameramodule.

Step 606: The radar detects the to-be-detected region, to obtain radardetection information of the to-be-detected region.

For a specific implementation of step 606, refer to step 501 in theembodiment shown in FIG. 7. Details are not described herein again.

Step 607: The radar determines the second information based on the firstinformation, where the second information is detection information thatis of the initial drivable region and that is included in the radardetection information.

Step 608: The radar sends the second information to an apparatus forobtaining drivable region information.

Step 609: The apparatus for obtaining drivable region informationreceives the second information sent by the radar.

When the method shown in FIG. 3 is performed by the fusion module thatis separately disposed, in an embodiment shown in FIG. 8A and FIG. 8B,the apparatus for obtaining drivable region information is the fusionmodule that is separately disposed. When the method shown in FIG. 3 isperformed by the camera module that is internally equipped with thefusion module, in the embodiment shown in FIG. 8A and FIG. 8B, theapparatus for obtaining drivable region information is the camera modulethat is internally equipped with the fusion module.

In the embodiment shown in FIG. 8A and FIG. 8B, an execution sequence ofstep 605 and step 606 may be changed. In other words, step 605 may beperformed before step 606, or step 606 may be performed before step 605.This is not limited in this application.

When the method shown in FIG. 8A and FIG. 8B is used to obtain thesecond information, the radar only needs to send the detectioninformation of the initial drivable region to the apparatus forobtaining drivable region information, so that a data transmissionamount is relatively small; and when drivable region information issubsequently determined based on the first information and the secondinformation, an amount of data that needs to be fused is relativelysmall, and a calculation amount is relatively small. Therefore,efficiency of determining the drivable region information can beimproved.

As shown in FIG. 9A and FIG. 9B, the obtaining second information mayalternatively be implemented according to the following steps.

Step 701: The camera module shoots an image of a to-be-detected region.

Step 702: The camera module classifies and identifies the image, toobtain image information of the to-be-detected region.

Step 703: The camera module determines the first information based onthe image information, where the first information includes theinformation about an initial drivable region.

For specific implementations of step 701 to step 703, refer to step 201to step 203 in the embodiment shown in FIG. 4. Details are not describedherein again.

Step 704: The camera module sends the first information to a radar.

When the camera module sends, to the radar, the first informationincluding the information about an initial drivable region, theinformation about an initial drivable region needs to be converted to berepresented in the vehicle coordinate system or the world coordinatesystem.

Step 705: The radar receives the first information sent by the cameramodule.

Step 706: The radar detects the initial drivable region based on thefirst information, to obtain the second information, where the secondinformation includes radar detection information of the initial drivableregion.

For a specific implementation of step 706, refer to step 501 in theembodiment shown in FIG. 7. Details are not described herein again.

Step 707: The radar sends the second information to an apparatus forobtaining drivable region information.

Step 708: The apparatus for obtaining drivable region informationreceives the second information sent by the radar.

When the method shown in FIG. 3 is performed by the fusion module thatis separately disposed, in an embodiment shown in FIG. 9A and FIG. 9B,the apparatus for obtaining drivable region information is the fusionmodule that is separately disposed. When the method shown in FIG. 3 isperformed by the camera module that is internally equipped with thefusion module, in the embodiment shown in FIG. 9A and FIG. 9B, theapparatus for obtaining drivable region information is the camera modulethat is internally equipped with the fusion module.

When the method shown in FIG. 9A and FIG. 9B is used to obtain thesecond information, the radar only needs to send the detectioninformation of the initial drivable region to the apparatus forobtaining drivable region information, so that a data transmissionamount is relatively small; and when drivable region information issubsequently determined based on the first information and the secondinformation, an amount of data that needs to be fused is relativelysmall, and a calculation amount is relatively small. Therefore,efficiency of determining the drivable region information can beimproved.

Step 103: Determine first drivable region information based on the firstinformation and the second information.

When the method shown in FIG. 3 is performed by the fusion module thatis separately disposed or the camera module that is internally equippedwith the fusion module, the determining first drivable regioninformation based on the first information and the second informationmay be implemented in the following manner: fusing the first informationand the second information, and determining, as the first drivableregion information, information generated after the first informationand the second information are fused.

To further improve accuracy of the first drivable region information,the determining first drivable region information based on the firstinformation and the second information may alternatively be implementedin the following two manners.

In the first manner, the method shown in FIG. 3 is performed by thecamera module that is internally equipped with the fusion module, and asshown in FIG. 10, the determining first drivable region informationbased on the first information and the second information may beimplemented according to the following steps.

Step 801: The fusion module determines, based on the first informationand the second information, whether a region of interest exists.

The fusion module fuses the first information and the second informationby using a statistical fusion algorithm, for example, a Bayes algorithm,and determines, based on a result of the fusion, whether there is aregion with a suspicious detection result, namely, a region with aninaccurate detection result, in the initial drivable region. In thisembodiment of this application, the region with the suspicious detectionresult is briefly referred to as a region of interest (ROI).

Step 802: If the fusion module determines that a region of interest doesnot exist, the fusion module performs step 804.

Step 803: If the fusion module determines that a region of interestexists, the fusion module performs step 805.

Step 804: The fusion module fuses the first information and the secondinformation, and determines, as the first drivable region information,information obtained after the first information and the secondinformation are fused.

Step 805: The fusion module fuses the first information and the secondinformation, and determines, as second drivable region information,information obtained after the first information and the secondinformation are fused.

Step 806: The fusion module determines region information of the regionof interest.

The fusion module may determine the region information of the region ofinterest based on the result of the fusion obtained in step 801.

Step 807: The camera module detects the region of interest based on theregion information that is of the region of interest and that isdetermined by the fusion module, to obtain a detection result of theregion of interest.

The camera module classifies and identifies, based on the regioninformation of the region of interest, the image of the to-be-detectedregion again; determines, based on a result of the classification andidentification, whether a category of a pixel corresponding to theregion of interest is “drivable”; and determines whether the region ofinterest is a region in which a vehicle can travel.

Based on this, the detection result of the region of interest includesthat the region of interest is a region in which a vehicle can travel,or that the region of interest is an obstacle region in which a vehiclecannot travel.

Optionally, when step 807 is performed, the camera module may classifyand identify the image of the to-be-detected region by using a semanticsegmentation algorithm or an instance segmentation algorithm that isbased on a CNN, or may classify and identify the image of theto-be-detected region by using another classifier that is relativelysimple, for example, a support vector machine (SVM) classifier or anAdaBoost classifier.

Step 808: The fusion module determines the first drivable regioninformation based on the second drivable region information and thedetection result of the region of interest.

If the detection result of the region of interest is that the region ofinterest is a region in which a vehicle can travel, the fusion moduledetermines the second drivable region information as the first drivableregion information. Alternatively, if the detection result of the regionof interest is that the region of interest is an obstacle region inwhich a vehicle cannot travel, the fusion module determines information,in the second drivable region information, other than the regioninformation of the region of interest as the first drivable regioninformation.

When the method shown in FIG. 10 is used to determine the first drivableregion information, the determined first drivable region information ismore accurate, and safety is higher when a vehicle subsequently travelsbased on the first drivable region information.

In the second manner, the method shown in FIG. 3 is performed by thefusion module that is separately disposed, and as shown in FIG. 11A andFIG. 11B, the determining first drivable region information based on thefirst information and the second information may be implementedaccording to the following steps.

Step 901: The fusion module determines, based on the first informationand the second information, whether a region of interest exists.

For a specific implementation of step 901, refer to step 801 in theembodiment shown in FIG. 10. Details are not described herein again.

Step 902: If the fusion module determines that a region of interest doesnot exist, the fusion module performs step 904.

Step 903: If the fusion module determines that a region of interestexists, the fusion module performs step 905.

Step 904: The fusion module fuses the first information and the secondinformation, and determines, as the first drivable region information,information obtained after the first information and the secondinformation are fused.

Step 905: The fusion module fuses the first information and the secondinformation, and determines, as second drivable region information,information obtained after the first information and the secondinformation are fused.

Step 906: The fusion module determines region information of the regionof interest.

For a specific implementation of step 906, refer to step 806 in theembodiment shown in FIG. 10. Details are not described herein again.

Step 907: The fusion module sends the region information of the regionof interest to the camera module.

Step 908: The camera module receives the region information that is ofthe region of interest and that is sent by the fusion module.

Step 909: The camera module detects the region of interest based on theregion information of the region of interest, to obtain a detectionresult of the region of interest.

For a specific implementation of step 909, refer to step 807 in theembodiment shown in FIG. 10. Details are not described herein again.

Step 910: The camera module sends the detection result of the region ofinterest to the fusion module.

Step 911: The fusion module receives the detection result that is of theregion of interest and that is sent by the camera module.

Step 912: The fusion module determines the first drivable regioninformation based on the second drivable region information and thedetection result of the region of interest.

For a specific implementation of step 912, refer to step 808 in theembodiment shown in FIG. 10. Details are not described herein again.

When the method shown in FIG. 11A and FIG. 11B is used to determine thefirst drivable region information, the determined first drivable regioninformation is more accurate, and safety is higher when a vehiclesubsequently travels based on the first drivable region information.

According to the method for determining drivable region informationprovided in this application, first, the first information is obtained,where the first information includes the information that is about theinitial drivable region and that is determined based on the image; then,the second information including the radar detection information isobtained; and finally, the first drivable region information isdetermined based on the first information and the second information. Itcan be learned that the first drivable region information, obtainedaccording to the method for determining drivable region informationprovided in this application, is obtained by fusing the imageinformation and the radar detection information, and has higheraccuracy; and when detection performed by one of an camera apparatus anda radar apparatus is inaccurate, for example, when the camera apparatusis in an environment in which there is a shadow or a block, or when alaser radar is affected by a climate or when a vehicle-mounted radar isaffected by a noise signal, the accuracy of the first drivable regioninformation can be improved by using detection information of the otherone of the camera apparatus and the radar apparatus, and safety ofvehicle traveling is ensured.

The following describes apparatus embodiments corresponding to theforegoing method embodiments.

FIG. 12 is a structural block diagram of an implementation of anapparatus for determining drivable region information according to thisapplication. With reference to FIG. 12, it can be learned that theapparatus 1200 includes: an obtaining module 1201, configured to obtainfirst information, where the first information includes informationabout an initial drivable region determined based on at least one image,and the at least one image is from at least one camera module, where theobtaining module 1201 is further configured to obtain secondinformation, where the second information includes radar detectioninformation; and a determining module 1202, configured to determinefirst drivable region information based on the first information and thesecond information.

The apparatus provided in this application first obtains the firstinformation, where the first information includes the information thatis about the initial drivable region and that is determined based on theimage; then obtains the second information including the radar detectioninformation; and finally, determines the first drivable regioninformation based on the first information and the second information.It can be learned that the first drivable region information, obtainedby the apparatus for determining drivable region information provided inthis application, is obtained by fusing image information and the radardetection information, and has higher accuracy; and when detectionperformed by one of an camera apparatus and a radar apparatus isinaccurate, for example, when the camera apparatus is in an environmentin which there is a shadow or a block, or when a laser radar is affectedby a climate or when a vehicle-mounted radar is affected by a noisesignal, the accuracy of the first drivable region information can beimproved by using detection information of the other one of the cameraapparatus and the radar apparatus, and safety of vehicle traveling isensured.

Optionally, the radar detection information includes detectioninformation of the initial drivable region.

Optionally, the determining module 1202 is further configured to:determine, based on the first information and the second information,whether a region of interest exists.

Optionally, the determining module 1202 is further configured todetermine that a region of interest exists; the obtaining module 1201 isfurther configured to obtain second drivable region information andregion information of the region of interest; the obtaining module 1201is further configured to obtain a detection result of the region ofinterest based on the region information of the region of interest; andthe determining module 1202 is further configured to determine the firstdrivable region information based on the second drivable regioninformation and the detection result of the region of interest.

Optionally, the information about an initial drivable region includesinformation about at least one pixel corresponding to the initialdrivable region; or the information about an initial drivable region isindicated by boundary information of the initial drivable region.

Optionally, the radar detection information includes locationcoordinates information; or the radar detection information includeslocation coordinates information and covariance information of thelocation coordinates.

The apparatus 1200 provided in the embodiment shown in FIG. 12 may be afusion module that is separately disposed, or may be an camera modulethat is internally equipped with a fusion module. The apparatus 1200 maybe used to implement the method provided in the embodiment shown in FIG.3, and a same beneficial effect is achieved.

FIG. 13 is a structural block diagram of another implementation of anapparatus for determining drivable region information according to thisapplication. With reference to FIG. 13, it can be learned that theapparatus 1300 includes:

a receiving module 1301, configured to receive first information, wherethe first information includes information about an initial drivableregion determined based on at least one image, and the at least oneimage is from at least one camera module;

a generation module 1302, configured to generate second information,where the second information includes radar detection information thatis of the initial drivable region generated based on the firstinformation; and

a sending module 1303, configured to send the second information.

The apparatus provided in this implementation first receives the firstinformation; then generates, based on the first information, the secondinformation including the radar detection information of the initialdrivable region; and finally, sends the second information to anapparatus for obtaining drivable region information. It can be learnedthat, according to the apparatus provided in this implementation, aradar only needs to send the radar detection information of the initialdrivable region to the apparatus for obtaining drivable regioninformation, so that a data transmission amount is relatively small; andwhen first drivable region information is subsequently determined basedon the first information and the second information, an amount of datathat needs to be fused is relatively small, and a calculation amount isrelatively small. Therefore, efficiency of determining the drivableregion information can be improved.

During specific implementation, the embodiments of this applicationfurther provide a computer storage medium, where the computer storagemedium may store a program, the program includes instructions, and whenthe program is executed, some or all of the steps of the method fordetermining drivable region information provided in this application maybe included. The computer storage medium may be a magnetic disk, anoptical disc, a read-only memory (read-only memory, ROM), a randomaccess memory (random access memory, RAM), or the like.

All or some of the foregoing embodiments may be implemented by usingsoftware, hardware, firmware, or any combination thereof. When thesoftware is used to implement the embodiments, all or some of theembodiments may be implemented in a form of a computer program product.The computer program product includes one or more computer instructions.When the computer instructions are loaded and executed on a computer,the procedures or the functions according to this application arecompletely or partially generated. The computer may be a general-purposecomputer, a dedicated computer, a computer network, or anotherprogrammable apparatus. The computer instructions may be stored in acomputer-readable storage medium or may be transmitted from acomputer-readable storage medium to another computer-readable storagemedium. For example, the computer instructions may be transmitted from awebsite, computer, server, or data center to another website, computer,server, or data center in a wired (for example, a coaxial cable, anoptical fiber, or a digital subscriber line (DSL)) or wireless (forexample, infrared, radio, or microwave) manner. The computer-readablestorage medium may be any usable medium accessible by the computer, or adata storage device, such as a server or a data center, integrating oneor more usable media. The usable medium may be a magnetic medium (forexample, a floppy disk, a hard disk, or a magnetic tape), an opticalmedium (for example, a DVD), a semiconductor medium (for example, asolid-state drive (solid state disk, SSD)), or the like.

It should be understood that, in the embodiments of this application, anexecution sequence of the steps should be determined based on functionsand internal logic of the steps, and sequence numbers of the steps donot mean the execution sequence, and do not constitute a limitation onan implementation process of the embodiments.

In addition, in the descriptions of this application, “a plurality of”means two or more than two, unless otherwise specified. In addition, toclearly describe the technical solutions in the embodiments of thisapplication, terms such as “first” and “second” are used in theembodiments of this application to distinguish between same items orsimilar items that have basically same functions and purposes. Personsskilled in the art may understand that the terms such as “first” and“second” do not limit a quantity or an execution sequence, and the termssuch as “first” and “second” do not indicate a definite difference.

All parts in this specification are described in a progressive manner.For same or similar parts in the embodiments, refer to theseembodiments, and each embodiment focuses on a difference from anotherembodiment. Especially, the embodiments of the apparatus for determiningdrivable region information are basically similar to the methodembodiments, and therefore are described briefly. For related parts,refer to descriptions in the method embodiments.

Although some preferred embodiments of this application have beendescribed, persons skilled in the art can make changes and modificationsto these embodiments once they learn the basic inventive concept.Therefore, the following claims are intended to be construed as to coverthe preferred embodiments and all changes and modifications fallingwithin the scope of this application.

The foregoing implementations of this application are not intended tolimit the protection scope of this application.

What is claimed is:
 1. A method comprising: obtaining first information,wherein the first information comprises information about an initialdrivable region in a physical region for a vehicle and is based on atleast one image of the physical region, and the at least one image isfrom at least one camera module, the initial drivable region being anregion that the vehicle is able to travel within, wherein theinformation about the initial drivable region comprises information ofat least one pixel of an image of the initial drivable region; or theinformation about the initial drivable region comprises boundaryinformation of the image of the initial drivable region; obtainingsecond information, wherein the second information comprises radardetection information of the physical region; and determining, based onthe first information and the second information, whether to update theinitial drivable region to obtain a first drivable region within whichthe vehicle is able to travel obstacle-free.
 2. The method according toclaim 1, wherein the radar detection information comprises detectioninformation of the initial drivable region.
 3. The method according toclaim 1, wherein the method further comprises: determining, based on thefirst information and the second information, whether a region ofinterest exists in the initial drivable region.
 4. The method accordingto claim 3, comprising: determining that the region of interest exists;obtaining, based on the first information and the second information,second drivable region information and region information of the regionof interest; detecting the region of interest to determine a detectionresult of the region of interest, the detection result indicatingwhether the region of interest has obstacle; and determining the firstdrivable region based on the second drivable region information and thedetection result of the region of interest.
 5. The method according toclaim 4, wherein detecting the region of interest comprises: classifyingimage information corresponding to the region of interest.
 6. The methodaccording to claim 3, further comprising: determining that the region ofinterest does not exist; and obtaining second drivable regioninformation based on the first information and the second information,wherein the second drivable region information indicating the firstdrivable region.
 7. The method according to claim 1, wherein: theboundary information includes information about f pixels of the image ofthe initial drivable region corresponding to a boundary of the initialdrivable region, and the information about the f pixels is representedas [(u₁, h₁), (u₂, h₂), (u₃, h₃), . . . , (u_(i), h_(i)), . . . ,(u_(f), h_(f))] in a pixel coordinate system, and wherein u_(i) andh_(i) indicate location coordinates of an i^(th) pixel in the f pixels,1≤i≤f, and f is an integer greater than or equal to
 1. 8. The methodaccording to claim 1, wherein: the boundary information includesinformation about r pixels of the image of the initial drivable regioncorresponding to a boundary of the initial drivable region, and theinformation about the r pixels is represented as [step, (g₁, k₁), k₂,k₃, . . . , k_(i), . . . , k_(r)] or [step, (g₁, k₁), k₂, k₃, . . . ,k_(i), . . . , k_(r), step_method] in a pixel coordinate system, whereing₁ and k₁ indicate location coordinates of a first pixel in the rpixels, k_(i) indicates a vertical coordinate of an i^(th) pixel in ther pixels, 1≤i≤r, a horizontal coordinate of the i^(th) pixel is obtainedbased on the step, the step indicates an interval step between thehorizontal coordinate of the i^(th) pixel and a horizontal coordinate ofan (i+1)^(th) pixel, an interval step between the horizontal coordinateof the i^(th) pixel and a horizontal coordinate of an (i−1)^(th) pixelis same as the interval step between the horizontal coordinate of thei^(th) pixel and the horizontal coordinate of the (i+1)^(th) pixel, thestep_method indicates a connection relationship between all intervalsteps, and r is an integer greater than or equal to
 1. 9. The methodaccording to claim 1, wherein: the boundary information includesinformation about s pixels of the image of the initial drivable regioncorresponding to a boundary of the initial drivable region, and theinformation about the s pixels is represented as [(p₁, q₁), (p₂, q₂),(p₃, q₃), . . . , (p_(i), q_(i)), . . . , (p_(s), q_(s)), step_method]in a pixel coordinate system, where p_(i) and q_(i) indicate locationcoordinates of an i^(th) pixel in the s pixels, 1≤i≤s, there is aninterval step between a horizontal coordinate of the i^(th) pixel and ahorizontal coordinate of an (i+1)^(th) pixel, an interval step betweenthe horizontal coordinate of the i^(th) pixel and a horizontalcoordinate of an (i−1)^(th) pixel is different from the interval stepbetween the horizontal coordinate of the i^(th) pixel and the horizontalcoordinate of the (i+1)^(th) pixel, the step_method indicates aconnection relationship between all interval steps, and s is an integergreater than or equal to
 1. 10. The method according to claim 9,wherein: the step_method is linear interpolation, quadraticinterpolation, cubic spline interpolation, or shape-preserving piecewisecubic interpolation.
 11. The method according to claim 1, wherein theradar detection information comprises location coordinates information;or the radar detection information comprises location coordinatesinformation and covariance information of location coordinates.
 12. Anapparatus comprising: one or more processors, and a non-transitorycomputer-readable storage medium storing program instructions; wherein,when executed by the one or more processors, the instructions cause theapparatus to: obtain first information, wherein the first informationcomprises information about an initial drivable region in a physicalregion for a vehicle and is based on at least one image of the physicalregion, and the at least one image is from at least one camera module,the initial drivable region being an region that the vehicle is able totravel within, wherein, the information of the initial drivable regioncomprises information of at least one pixel of an image of the initialdrivable region; or the information of the initial drivable regioncomprises boundary information of the image of the initial drivableregion; obtain second information, wherein the second informationcomprises radar detection information of the physical region; anddetermine, based on the first information and the second information,whether to update the initial drivable region to obtain a first drivableregion within which the vehicle is able to travel obstacle-free.
 13. Theapparatus according to claim 12, wherein the radar detection informationcomprises detection information of the initial drivable region.
 14. Theapparatus according to claim 12, the instructions further cause theapparatus to: determine that a region of interest exists in the initialdrivable region; obtain, based on the first information and the secondinformation, second drivable region information and region informationof the region of interest; detect the region of interest to determine adetection result of the region of interest, the detection resultindicating whether the region of interest has obstacle; and determinethe first drivable region based on the second drivable regioninformation and the detection result of the region of interest.
 15. Theapparatus according to claim 14, the instructions further cause theapparatus to: classify image information corresponding to the region ofinterest.
 16. The apparatus according to claim 12, wherein the boundaryinformation includes information about f pixels of the image of theinitial drivable region corresponding to a boundary of the initialdrivable region, and the information about the f pixels is representedas [(u₁, h₁), (u₂, h₂), (u₃, h₃), . . . , (u_(i), h_(i)), . . . ,(u_(f), h_(f))] in a pixel coordinate system, and wherein u_(i) andh_(i) indicate location coordinates of an i^(th) pixel in the f pixels,1≤i≤f, and f is an integer greater than or equal to
 1. 17. The apparatusaccording to claim 12, wherein the boundary information includesinformation about r pixels of the image of the initial drivable regioncorresponding to a boundary of the initial drivable region, and theinformation about the r pixels is represented as [step, (g₁, k₁), k₂,k₃, . . . , k_(i), . . . , k_(r)] or [step, (g₁, k₁), k₂, k₃, . . . ,k_(i), . . . , k_(r), step_method] in a pixel coordinate system, whereing₁ and k₁ indicate location coordinates of a first pixel in the rpixels, k_(i) indicates a vertical coordinate of an i^(th) pixel in ther pixels, 1≤i≤r, a horizontal coordinate of the i^(th) pixel is obtainedbased on the step, the step indicates an interval step between thehorizontal coordinate of the i^(th) pixel and a horizontal coordinate ofan (i+1)^(th) pixel, an interval step between the horizontal coordinateof the i^(th) pixel and a horizontal coordinate of an (i−1)^(th) pixelis same as the interval step between the horizontal coordinate of thei^(th) pixel and the horizontal coordinate of the (i+1)^(th) pixel, thestep_method indicates a connection relationship between all intervalsteps, r is an integer greater than or equal to
 1. 18. The apparatusaccording to claim 12, wherein the boundary information includesinformation about s pixels of the image of the initial drivable regioncorresponding to a boundary of the initial drivable region, and theinformation about the s pixels is represented as [(p₁, q₁), (p₂, q₂),(p₃, q₃), . . . , (p_(i), q_(i)), . . . , (p_(s), q_(s)), step_method]in a pixel coordinate system, where p_(i) and q_(i) indicate locationcoordinates of an i^(th) pixel in the s pixels, 1≤i≤s, there is aninterval step between a horizontal coordinate of the i^(th) pixel and ahorizontal coordinate of an (i+1)^(th) pixel, an interval step betweenthe horizontal coordinate of the i^(th) pixel and a horizontalcoordinate of an (i−1)^(th) pixel is different from the interval stepbetween the horizontal coordinate of the i^(th) pixel and the horizontalcoordinate of the (i+1)^(th) pixel, the step_method indicates aconnection relationship between all interval steps, and s is an integergreater than or equal to
 1. 19. The apparatus according to claim 18,wherein the step_method is linear interpolation, quadraticinterpolation, cubic spline interpolation, or shape-preserving piecewisecubic interpolation.
 20. A method comprising: sending first information,wherein the first information comprises information about an initialdrivable region in a physical region for a vehicle and is determinedbased on at least one image of the physical region, the initial drivableregion being an region that the vehicle is able to travel within,wherein the information about the initial drivable region comprisesinformation of at least one pixel of an image of the initial drivableregion; or the information about the initial drivable region comprisesboundary information of the image of the initial drivable region.